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US5592563A - Imaging of 3-dimensional objects - Google Patents

Imaging of 3-dimensional objects Download PDF

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Publication number
US5592563A
US5592563A US08/457,750 US45775095A US5592563A US 5592563 A US5592563 A US 5592563A US 45775095 A US45775095 A US 45775095A US 5592563 A US5592563 A US 5592563A
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United States
Prior art keywords
image
volume
arrays
subimages
focus
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Expired - Fee Related
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US08/457,750
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English (en)
Inventor
Dov Zahavi
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Individual
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Individual
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Priority claimed from IL10097592A external-priority patent/IL100975A/xx
Priority to FR9301595A priority Critical patent/FR2688642B3/fr
Priority to DE4304276A priority patent/DE4304276A1/de
Priority to CH45993A priority patent/CH686207A5/de
Priority to JP5026641A priority patent/JPH0682235A/ja
Application filed by Individual filed Critical Individual
Priority to US08/457,750 priority patent/US5592563A/en
Application granted granted Critical
Publication of US5592563A publication Critical patent/US5592563A/en
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N25/00—Circuitry of solid-state image sensors [SSIS]; Control thereof
    • H04N25/70—SSIS architectures; Circuits associated therewith
    • H04N25/701—Line sensors

Definitions

  • a device and method for forming a high resolution image of a three dimensional object The object is scanned so as to cover its entire volume, the scan being performed by means of linearly arranged arrays of photosensitive elements, covering a narrow rectangular segment, the image of consecutive rectangles being evaluated so as to provide the required high resolution image.
  • the basic elements of the device are optical means for forming an image of the 3-dimensional object, scanning and detection means, an image selector and a video output.
  • the present invention overcomes to a large extent shortcomings of existing devices and methods of imaging.
  • the novel system is suitable to reconstruct the image of non planar objects which will not be limited in these ways.
  • the invention relates to a device and to a method for forming a high resolution image of a three-dimensional object,
  • the object is scanned so as to obtain defined sectional images, covering the entire surface of the object, by means of a linear array of photosensitive elements, the evaluation of consecutive images, at slightly different levels being evaluated, taking into consideration the time lag between such images, to reconstruct an image of the entire object.
  • the present invention relates to a method for forming a high-resolution image of a non-planar object which comprises forming an image of the object by an optical system, scanning the object in a stepwise manner by a linear detector matrix so that the entire height of the image is covered, each image "slice” being in focus for the imaged altitude, feeding the in-focus information to an image selector, which evaluates the video images taking into consideration the time delay between consecutive "slices", selecting the "in focus” information and by summing up the entire information created by the scan, creating the desired image.
  • the invention further relates to a system for forming a high-resolution image of a non-planar object which comprises optical means for forming an image of the entire object to be imaged, a detector matrix comprising a plurality of lines of CCD detectors, means for scanning the entire volume of the object in a stepwise manner, each step covering a slice defining a certain altitude so that the sum of these covers the entire surface of the object, an image selector for selecting the images containing a maximum of in-focus information by comparing adjacent slices, and means for thus creating the desired 3-dimensional image.
  • the invention is illustrated with reference to a system wherein a comparatively small object is used in order to obtain an enlarged image thereof. It is of course a matter of choice, and depends also on the size of the object, whether such an enlargement is required or not. Let us define a volume in which the objects (or parts of the objects) will be enclosed. This will be the "Observation Volume.
  • This volume is imaged by the optical device and thus an Image Volume is created (in which an image of the object is enclosed).
  • a detector matrix is moved in such a way that each row of linear detector sweeps over the entire Image Volume each at a different level. This can be done either by actually moving the matrix or by a change in the optical device that will move the Image Volume across the detector matrix.
  • N images of the Image Volume are generated by these N lines.
  • Each image is focussed to a certain height of the Image Volume and thus, contains in-focus video information of objects in an "Altitude Slice” of this volume.
  • the detector matrix is constructed in such a way that the N altitude slices contain the entire Image Volume).
  • Each image also contains out-of-focus information about the other "slices". As the video information is generated it is processed and a combined image is created, consisting of pieces of in-focus video information contained in the N images.
  • the invention will be illustrated with reference to a certain defined volume, in which the three-dimensional object which is to be imaged, is confined.
  • a matrix of detectors which sweep over an image of the object created by optical means (lens or lens system). This is done by the relative movement of matrix versus image, or change in parameters of the optics, or by movement of the object.
  • a horizontal linear array of sensors such as photosensitive elements
  • each scan provides an image of the narrow rectangular horizontal section of the surface of the object, at that given level, and if such scans are repeated so as to consecutively cover the entire surface
  • suitable means such as an image selector, and by retaining only those portions of each image which are in focus, to obtain a high-resolution image.
  • the array or arrays will be oriented at a certain angle respective the horizontal plane. It is possible to use one such array, and it is also possible to use a plurality of horizontal linear arrays to effect such scans, We will term in the following each such narrow rectangle as "scan line". If the entire matrix consists of N detector lines, N images are generated of the Image Volume.
  • Each of the images is focused at a certain level (height) of the image volume, and thus contains infocus information of that part of the object located in that "level slice” of the volume.
  • Each of the images also contains out of focus information about other "slices”, and also out-of-focus information about any part of the "slice” at the given level which is not in focus. Images of consecutive "slices" are compared, adjusting for the time lag of consecutive images, when a single linear array is used for repeated scans, and such images are evaluated and processed to result in a combined image of the entire object.
  • FIG. 1 is a block diagram of a system of the invention.
  • FIG. 2A is a side view and FIG. 2B is a front view, respectively, illustrating the principles of operation of the system of the invention, FIG. 2C being a view similar to FIG. 2A but in diagram form.
  • FIG. 3 is a block diagram illustrating the selector unit of the invention.
  • FIG. 4 is a block diagram of the decision unit of the invention.
  • FIG. 5 is a perspective view illustrating the main features of the system of the invention.
  • FIG. 6 is an illustration of an embodiment of the invention, illustrating its mode of operation with respect to a defined object and imaging system.
  • FIG. 7 is a diagram of signals versus time.
  • a non-planar object 11 is confined in an observation volume 12.
  • an optical imaging system in this case a magnifier 13, which forms an image of the object, as illustrated in FIG. 5, above the magnifier 13 which is scanned, line by line, by means of scanner 14, which comprises a plurality of linear arrays of photodetectors 15, generally CCDs, shown in FIG. 5, the output of which is fed to image selector 18 and from same to video output 19.
  • FIG. 5 Details of the scanning process are set out in FIG. 5, where the object 21 confirmed in volume 22, are scanned by the linear array 23 of a plurality of photosensitive elements 24, where the scan is such that levels L1 to L5 are scanned by the arrays 23 (1) to 23 (5).
  • the object is located respective the optical element (lens) 25 so as to form an image of the object 27, which image is scanned, a plurality of times, each scan covering a narrow rectangular element, at different levels L1 to L5, as shown in FIG. 2A and FIG. 2B, and also in FIG. 2C.
  • Each linear array contains a large number of photosensitive elements 24, so as to form an accurate image of those subelements of the given level, which are in focus.
  • the image of such a "slice” is compared by the image selector 18, taking into account that when one array is used to sweep the entire surface, there exists a certain time lag between the adjacent levels.
  • the elements 24 are arranged to point downwardly, parallel to the optical axis 28.
  • the arrays 23 are arranged on a support which is at an angle to the optical axis as shown in FIGS. 2A, 5 and 6 so as to better cover the surface, the direction of sight being as indicated by arrow 28 in FIG. 5.
  • the scan in direction 26 is effected so as to cover all the facets of the object 21.
  • a high resolution is attained by the optical element, which may provide a desired magnification of the object, and whose numerical aperture is chosen according to the dimensions of the object 21, and according to the required resolution.
  • This image, above the lens system, is scanned by the array of electro-sensitive elements.
  • an array comprises a large number of CCD detectors, and either one such linear array is used, moving respective the object from one level to the next one, or there are used simultaneously or consecutively, a number of such arrays.
  • Video information is generated by each scan of a narrow rectangular slice ("line"), and at each line the image is shifted in time, one line after the other.
  • each such line contains only a part of the image (continuous or not, according to the shape of the object), is in focus, which is in focus at the given level; so that when the scan of the entire surface has been completed, there is obtained a number of video images, each of which is partially in focus, while in the other images, the same areas will be out of focus.
  • the thus obtained images are fed to an image selector 18, which serves to compare the image lines as they are received as video information, from each matrix line (taking into consideration the time lag between scans of adjacent lines), and which selects portions of the image which either are in focus, rejecting other parts of the video image for the same object line highest video frequency, and selects also the image closest to an intensity extreme, either black or white.
  • the information is properly weighted, indicating the parts of each matrix line which is in focus for the given object (level) line.
  • the matrix construction is determined by taking into consideration the following considerations:
  • Observation Volume which is translated by the magnifier and the scanner into a virtual observation volume whose dimensions may be magnified a number of times respective the original Object Volume. This virtual observation volume is swept by the detector Matrix.
  • the required angular resolution determines the Numerical Aperture of the magnifier (and also the wavelength), This, in turn, determines the focal depth ZZd for the required resolution.
  • Zo is the vertical dimension of the observation volume and Zd is the length of the detector line is determined by the instantaneous width of the area to be observed and by the scan rate.
  • the horizontal spacing between the lines should be as small as possible, determined by the physical dimensions of the detector line. This distance determines the delay between the scanning of the same point on the object by two adjacent lines.
  • the selector can be implemented by hardware, software or a combination of both and thus we will describe only its algorithm.
  • FIG. 3 describes the block diagram of the selector.
  • each portion of this data is compared with the data generated by the previous line when it was scanning the same point on the object.
  • the data from the previous line is delayed by and amount of "Delay 1+Delay 2" which is equal to the total delay between two lines,
  • the decision unit compares each portion of these two lines and commands the selector switch to select the output of the better focused line.
  • the data streams arriving at the selector switch are delayed by an amount of Delay 1, which is equal to the delay of the Decision Unit.
  • the output of the selector switch is delayed by an amount of Delay 2 before it is sent to the next Decision Unit and Selector Switch.
  • the output of the list (N-1) Selector Switch is the output of the Selector.
  • FIG. 4 describes the operation of the Decision Unit.
  • the two signals come into the decision unit on the input lines A and B.
  • Each line is processed in the following way (to measure the high frequency contents and the intensity):
  • a constant of the value -C1 is added and the absolute value (ABS) of the signal is taken (The constant-C1 eliminates the D.C, component of the video signal).
  • the signal is passed through a high pass filter and the absolute value is taken.
  • the results of the two processed signals are compared and the higher value is selected.
  • the object area is uniform
  • the rate of position change for the selector switch is determined by the relative weights C2 and C3 and by the band width of the HPF.
  • a similar algorithm can be implemented where the line selection is based not only on the uni-dimensional focus quality, along the line as measured by the networks of the decision unit, but instead on a two-dimensional focus quality, where the corresponding pixels in each line, based on the previous positions, are also weighed by similar networks, and the highest resulting line is selected for this neighborhood.
  • the typical dimensions of a single picture element (Pixel) in available CCD arrays are about 10 ⁇ 10 ⁇ m.
  • This matrix will be tilted 30 o (relative to the X,Y plane) and thus the vertical spacing of 160 ⁇ m is achieved.
  • the full scan image of the matrix is determined by the length Xo of the Image Volume and by the projection of the detector matrix on the XY plane.
  • each line is a continuous video signal in the range of 0-1 volt.
  • the spectrum of this signal is (determined by the spatial texture and shape of the object and limited by the resolution of the CCD) limited by the clock rate of the CCD.
  • FIG. 7 we can see the various stages of the signals coming out of lines 24 and 25 and being processed and selected by the selector described in FIGS. 3 and 4 (with the parameters defined in this example).
  • the outputs of the CCD lines 24 and 25 are shown for the time beginning at 7950 after the start of scan. (as we are interested in a single point at the center of the Observation Volume we look at the two lines in and just above the center, 24 and 25 and at the middle of the scan time). We see that line 23 "sees" the target at 7935 ⁇ sec but the target us fuzzy and weak, Line 25 sees a strong and well defined target at 7965 ⁇ sec.
  • the signals at the inputs of the Decision Unit 24/25 are:
  • the video signals arriving to the Selector Switch 24/25 are the same signals going to the Decision Unit 24/25, only delayed by Delay 1, which is equal to the Decision Unit delay.
  • the comparator has already changed state and the signal from line 25 is selected and passed on to the next Decision Unit.

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  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Image Analysis (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Image Processing (AREA)
  • Image Input (AREA)
  • Testing, Inspecting, Measuring Of Stereoscopic Televisions And Televisions (AREA)
  • Transforming Light Signals Into Electric Signals (AREA)
US08/457,750 1992-02-17 1995-06-01 Imaging of 3-dimensional objects Expired - Fee Related US5592563A (en)

Priority Applications (5)

Application Number Priority Date Filing Date Title
FR9301595A FR2688642B3 (fr) 1992-02-17 1993-02-12 Dispositif et procede pour la formation d'une image a haute resolution d'un objet tri-dimensionnel.
DE4304276A DE4304276A1 (en) 1992-02-17 1993-02-12 Forming high resolution image of planar or three=dimensional object - combining sharp image data provided by detector matrix for successive scanning of object via optical imaging system.
CH45993A CH686207A5 (de) 1992-02-17 1993-02-15 Verfahren und Einrichtung zum Erzeugen eines Bilds hoher Auflosung.
JP5026641A JPH0682235A (ja) 1992-02-17 1993-02-16 非平面物体の高分解能画像を形成する方法及びシステム
US08/457,750 US5592563A (en) 1992-02-17 1995-06-01 Imaging of 3-dimensional objects

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
IL10097592A IL100975A (en) 1992-02-17 1992-02-17 Imaging of 3-dimensional objects
US1785893A 1993-02-16 1993-02-16
US08/457,750 US5592563A (en) 1992-02-17 1995-06-01 Imaging of 3-dimensional objects

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US1785893A Continuation 1992-02-17 1993-02-16

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US5592563A true US5592563A (en) 1997-01-07

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US (1) US5592563A (ja)
JP (1) JPH0682235A (ja)
CH (1) CH686207A5 (ja)
DE (1) DE4304276A1 (ja)
FR (1) FR2688642B3 (ja)

Cited By (22)

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Publication number Priority date Publication date Assignee Title
US5915048A (en) * 1996-06-05 1999-06-22 Zetetic Institute Method and apparatus for discriminating in-focus images from out-of-focus light signals from background and foreground light sources
US6031941A (en) * 1995-12-27 2000-02-29 Canon Kabushiki Kaisha Three-dimensional model data forming apparatus
WO2000026850A1 (en) * 1998-11-05 2000-05-11 Cyberoptics Corporation Electronics assembly apparatus with stereo vision linescan sensor
US6094269A (en) * 1997-12-31 2000-07-25 Metroptic Technologies, Ltd. Apparatus and method for optically measuring an object surface contour
US6160924A (en) * 1998-08-12 2000-12-12 Northrop Grumman Corporation Method for forming a map of a three-dimensional object
US6249589B1 (en) * 1994-04-21 2001-06-19 Bodenseewerk Geratetechnik Gmbh Device for passive friend-or-foe discrimination
US20020180865A1 (en) * 2001-04-05 2002-12-05 Lee Thomas Eliott Image based volumetric measuring device
US6535291B1 (en) 2000-06-07 2003-03-18 Cyberoptics Corporation Calibration methods for placement machines incorporating on-head linescan sensing
US6538244B1 (en) 1999-11-03 2003-03-25 Cyberoptics Corporation Pick and place machine with improved vision system including a linescan sensor
US6639684B1 (en) 2000-09-13 2003-10-28 Nextengine, Inc. Digitizer using intensity gradient to image features of three-dimensional objects
US20030227673A1 (en) * 2001-03-01 2003-12-11 Olympus Optical Co., Ltd. System and method for controlling microscope
US20040096093A1 (en) * 2002-10-18 2004-05-20 Hauck John Michael Identification hardness test system
US6856407B2 (en) 2000-09-13 2005-02-15 Nextengine, Inc. Method for depth detection in 3D imaging providing a depth measurement for each unitary group of pixels
US20050036675A1 (en) * 2000-09-13 2005-02-17 Knighton Mark S. Digital communication of captured three-dimensional object over a network
US20060045174A1 (en) * 2004-08-31 2006-03-02 Ittiam Systems (P) Ltd. Method and apparatus for synchronizing a transmitter clock of an analog modem to a remote clock
US20060169894A1 (en) * 2005-01-18 2006-08-03 International Business Machines Corporation Method of forming images in a scanning electron microscope
US20060210076A1 (en) * 2000-09-13 2006-09-21 Knighton Mark S Imaging system with respository on a distributed network
US7233351B1 (en) 2001-02-23 2007-06-19 Nextengine, Inc. Method for high resolution incremental imaging
US7711179B2 (en) 2004-04-21 2010-05-04 Nextengine, Inc. Hand held portable three dimensional scanner
US20100135416A1 (en) * 2008-12-03 2010-06-03 Yu-Wen Huang Method for performing parallel coding with ordered entropy slices, and associated apparatus
US7995834B1 (en) 2006-01-20 2011-08-09 Nextengine, Inc. Multiple laser scanner
US20140293035A1 (en) * 2011-12-22 2014-10-02 Olympus Corporation Image processing apparatus, imaging apparatus, microscope system, image processing method, and computer-readable recording medium

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KR100297977B1 (ko) 1996-04-23 2001-10-26 모리시타 요이찌 칼라전자사진장치

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Cited By (45)

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US6249589B1 (en) * 1994-04-21 2001-06-19 Bodenseewerk Geratetechnik Gmbh Device for passive friend-or-foe discrimination
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US6639684B1 (en) 2000-09-13 2003-10-28 Nextengine, Inc. Digitizer using intensity gradient to image features of three-dimensional objects
US6856407B2 (en) 2000-09-13 2005-02-15 Nextengine, Inc. Method for depth detection in 3D imaging providing a depth measurement for each unitary group of pixels
US20050036675A1 (en) * 2000-09-13 2005-02-17 Knighton Mark S. Digital communication of captured three-dimensional object over a network
US7659995B2 (en) 2000-09-13 2010-02-09 NextPat, Ltd. Digitizer using plural capture methods to image features of 3-D objects
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US7233351B1 (en) 2001-02-23 2007-06-19 Nextengine, Inc. Method for high resolution incremental imaging
US20030227673A1 (en) * 2001-03-01 2003-12-11 Olympus Optical Co., Ltd. System and method for controlling microscope
US7215467B2 (en) * 2001-03-01 2007-05-08 Olympus Corporation System and method for controlling microscope
US20020180865A1 (en) * 2001-04-05 2002-12-05 Lee Thomas Eliott Image based volumetric measuring device
US6965689B2 (en) * 2001-04-05 2005-11-15 Thomas Eliott Lee Image based volumetric measuring device
US6996264B2 (en) 2002-10-18 2006-02-07 Leco Corporation Indentation hardness test system
US20050265593A1 (en) * 2002-10-18 2005-12-01 Hauck John M Indentation hardness test system
US20040096093A1 (en) * 2002-10-18 2004-05-20 Hauck John Michael Identification hardness test system
US7139422B2 (en) 2002-10-18 2006-11-21 Leco Corporation Indentation hardness test system
US7711179B2 (en) 2004-04-21 2010-05-04 Nextengine, Inc. Hand held portable three dimensional scanner
US20100215252A1 (en) * 2004-04-21 2010-08-26 Nextpat Limited Hand held portable three dimensional scanner
US8116559B2 (en) 2004-04-21 2012-02-14 Nextengine, Inc. Hand held portable three dimensional scanner
US8699829B2 (en) 2004-04-21 2014-04-15 Nextpat Limited Hand held portable three dimensional scanner
US9549168B2 (en) 2004-04-21 2017-01-17 Nextpat Limited Hand held portable three dimensional scanner
US20060045174A1 (en) * 2004-08-31 2006-03-02 Ittiam Systems (P) Ltd. Method and apparatus for synchronizing a transmitter clock of an analog modem to a remote clock
US7105817B2 (en) * 2005-01-18 2006-09-12 International Business Machines Inc. Method of forming images in a scanning electron microscope
US20060169894A1 (en) * 2005-01-18 2006-08-03 International Business Machines Corporation Method of forming images in a scanning electron microscope
US7995834B1 (en) 2006-01-20 2011-08-09 Nextengine, Inc. Multiple laser scanner
US20100135416A1 (en) * 2008-12-03 2010-06-03 Yu-Wen Huang Method for performing parallel coding with ordered entropy slices, and associated apparatus
US9467699B2 (en) * 2008-12-03 2016-10-11 Hfi Innovation Inc. Method for performing parallel coding with ordered entropy slices, and associated apparatus
US20140293035A1 (en) * 2011-12-22 2014-10-02 Olympus Corporation Image processing apparatus, imaging apparatus, microscope system, image processing method, and computer-readable recording medium

Also Published As

Publication number Publication date
DE4304276A1 (en) 1993-08-19
JPH0682235A (ja) 1994-03-22
FR2688642B3 (fr) 1994-06-03
FR2688642A1 (fr) 1993-09-17
CH686207A5 (de) 1996-01-31

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